#!/usr/bin/env python
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# Revision $Id: gossipbot.py 1013 2008-05-21 01:08:56Z sfkwc $

## Simple demo of a rospy service client that calls a service to add
## two integers. 

from __future__ import with_statement

PKG = 'tf' # this package name

import roslib; roslib.load_manifest(PKG) 

import sys, time
import os
import string
import re
import subprocess
import distutils.version

from optparse import OptionParser

import rospy
from tf.srv import *
import tf

def listen(duration):
    rospy.init_node("view_frames", anonymous=True)
    tf_listener = tf.TransformListener()
    print "Listening to /tf for %f seconds"%duration
    time.sleep(duration)
    print "Done Listening"
    return tf_listener.allFramesAsDot()
    

def poll(node_name):
    print "Waiting for service %s/tf_frames"%node_name
    rospy.wait_for_service('%s/tf_frames'%node_name)

    try:
        print "Polling service"
        tf_frames_proxy = rospy.ServiceProxy('%s/tf_frames'%node_name, FrameGraph)

        output = tf_frames_proxy.call(FrameGraphRequest())

    except rospy.ServiceException, e:
        print "Service call failed: %s"%e
        
    return output.dot_graph

def generate(dot_graph):


    with open('frames.gv', 'w') as outfile:
        outfile.write(dot_graph)


    try:
        # Check version, make postscript if too old to make pdf
        args = ["dot", "-V"]
        try:
            vstr = subprocess.Popen(args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[1]
        except OSError, ex:
            print "Warning: Could not execute `dot -V`.  Is graphviz installed?"
            sys.exit(-1)
        v = distutils.version.StrictVersion('2.16')
        r = re.compile(".*version ([^ ]*).*")
        print vstr
        m = r.search(vstr)
        if not m or not m.group(1):
          print 'Warning: failed to determine your version of dot.  Assuming v2.16'
        else:
          version = distutils.version.StrictVersion(m.group(1))
          print 'Detected dot version %s' % (version)
        if version > distutils.version.StrictVersion('2.8'):
          subprocess.check_call(["dot", "-Tpdf", "frames.gv", "-o", "frames.pdf"])
          print "frames.pdf generated"
        else:
          subprocess.check_call(["dot", "-Tps2", "frames.gv", "-o", "frames.ps"])
          print "frames.ps generated"
    except subprocess.CalledProcessError:
        print >> sys.stderr, "failed to generate frames.pdf"        


if __name__ == '__main__':
    parser = OptionParser(usage="usage: %prog [options]", prog='viewFrames.py')
    parser.add_option("--node", metavar="node name",
                      type="string", help="Node to get frames from",
                      dest="node")
    options, args = parser.parse_args()

    dot_graph = ''
    if not options.node:
        dot_graph = listen(5.0)
    else:
        print "Generating graph for node: ", options.node
        dot_graph = poll(options.node)

    generate(dot_graph)
